EP4051160A4 - Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system - Google Patents

Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system Download PDF

Info

Publication number
EP4051160A4
EP4051160A4 EP20883410.1A EP20883410A EP4051160A4 EP 4051160 A4 EP4051160 A4 EP 4051160A4 EP 20883410 A EP20883410 A EP 20883410A EP 4051160 A4 EP4051160 A4 EP 4051160A4
Authority
EP
European Patent Office
Prior art keywords
proprioceptive
camera system
stereoscopic camera
surgical
digital
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20883410.1A
Other languages
German (de)
French (fr)
Other versions
EP4051160A1 (en
Inventor
George Charles Polchin
Simon Raab
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Digital Surgery Systems Inc
Original Assignee
True Digital Surgery
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by True Digital Surgery filed Critical True Digital Surgery
Publication of EP4051160A1 publication Critical patent/EP4051160A1/en
Publication of EP4051160A4 publication Critical patent/EP4051160A4/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
EP20883410.1A 2019-11-01 2020-11-02 Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system Pending EP4051160A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962929421P 2019-11-01 2019-11-01
PCT/US2020/058488 WO2021087433A1 (en) 2019-11-01 2020-11-02 Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system

Publications (2)

Publication Number Publication Date
EP4051160A1 EP4051160A1 (en) 2022-09-07
EP4051160A4 true EP4051160A4 (en) 2023-11-29

Family

ID=75716351

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20883410.1A Pending EP4051160A4 (en) 2019-11-01 2020-11-02 Robotic surgical navigation using a proprioceptive digital surgical stereoscopic camera system

Country Status (4)

Country Link
US (1) US20220401178A1 (en)
EP (1) EP4051160A4 (en)
AU (1) AU2020373118A1 (en)
WO (1) WO2021087433A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7546367B2 (en) * 2020-03-17 2024-09-06 ソニー・オリンパスメディカルソリューションズ株式会社 CONTROL DEVICE AND MEDICAL OBSERVATION SYSTEM
CN113487655B (en) * 2021-09-07 2022-03-01 成都博恩思医学机器人有限公司 Indoor model generation method, electronic equipment and storage medium
US20230097023A1 (en) * 2021-09-24 2023-03-30 Covidien Lp Surgical robotic system with daisy chaining
DE102021126484A1 (en) * 2021-10-13 2023-04-13 B. Braun New Ventures GmbH Calibration procedure for the automated calibration of camera to medical robot and surgical assistance system
DE102021128478A1 (en) * 2021-11-02 2023-05-04 B. Braun New Ventures GmbH Surgical navigation system with improved instrument tracking and navigation procedures
DE102022100626B4 (en) * 2022-01-12 2024-05-08 Carl Zeiss Meditec Ag AUTOMATED REGISTRATION OF PREOPERATIVE VOLUME IMAGE DATA USING SEARCH IMAGE
DE102023101953A1 (en) 2023-01-26 2024-08-01 B. Braun New Ventures GmbH Surgical assistance system and method for data visualization for a surgical procedure
CN117506965B (en) * 2024-01-08 2024-04-12 武汉联影智融医疗科技有限公司 Positioning system, method, computer device and storage medium of surgical robot

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190327394A1 (en) * 2017-04-24 2019-10-24 Truevision Systems, Inc. Stereoscopic visualization camera and integrated robotics platform

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US9188973B2 (en) * 2011-07-08 2015-11-17 Restoration Robotics, Inc. Calibration and transformation of a camera system's coordinate system
USRE49930E1 (en) * 2015-03-26 2024-04-23 Universidade De Coimbra Methods and systems for computer-aided surgery using intra-operative video acquired by a free moving camera
CN114599263A (en) * 2019-08-21 2022-06-07 艾科缇弗外科公司 System and method for medical imaging

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190327394A1 (en) * 2017-04-24 2019-10-24 Truevision Systems, Inc. Stereoscopic visualization camera and integrated robotics platform

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
GUREVICH PAVEL ET AL: "Design and Implementation of TeleAdvisor: a Projection-Based Augmented Reality System for Remote Collaboration", COMPUTER SUPPORTER COOPERATIVE WORK, DORDRECHT, NL, vol. 24, no. 6, 10 September 2015 (2015-09-10), pages 527 - 562, XP035827034, ISSN: 0925-9724, [retrieved on 20150910], DOI: 10.1007/S10606-015-9232-7 *
RAO R MADHUSUDHAN ET AL: "Development of a Robot-mounted 3D Scanner and Multi-view Registration Techniques for Industrial Applications", PROCEDIA COMPUTER SCIENCE, vol. 133, 1 January 2018 (2018-01-01), AMSTERDAM, NL, pages 256 - 267, XP093092679, ISSN: 1877-0509, Retrieved from the Internet <URL:https://www.sciencedirect.com/science/article/pii/S1877050918309773/pdf?md5=a23c187e61b7f585a847627ac286f975&pid=1-s2.0-S1877050918309773-main.pdf> DOI: 10.1016/j.procs.2018.07.032 *
See also references of WO2021087433A1 *
TAYLOR ZACHARY: "Camera to Robotic Arm Calibration - File Exchange - MATLAB Central", 11 June 2016 (2016-06-11), XP093092762, Retrieved from the Internet <URL:https://www.mathworks.com/matlabcentral/fileexchange/48696-camera-to-robotic-arm-calibration?s_tid=FX_rc1_behav> [retrieved on 20231018] *

Also Published As

Publication number Publication date
US20220401178A1 (en) 2022-12-22
AU2020373118A1 (en) 2022-05-12
EP4051160A1 (en) 2022-09-07
WO2021087433A1 (en) 2021-05-06

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Owner name: DIGITAL SURGERY SYSTEMS, INC.